Add options for controlling early termination criteria of CG/Newton linesearch.
Useful for performance tuning models. PiperOrigin-RevId: 563175078 Change-Id: Id64a510d6080038ea8d5876dabbf0b2b311435bb
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@@ -1972,6 +1972,18 @@ adjust it properly through the XML.
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improvement between two iterations. For CG and Newton, it is applied to the smaller of the cost improvement and the
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gradient norm. Set the tolerance to 0 to disable early termination.
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.. _option-ls_iterations:
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:at:`ls_iterations`: :at-val:`int, "50"`
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Maximum number of linesearch iterations performed by CG/Newton constraint solvers. Ensures that at most
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:ref:`iterations<option-iterations>` times :ref:`ls_iterations<option-ls_iterations>` linesearch iterations are
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performed during each constraint solve.
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.. _option-ls_tolerance:
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:at:`ls_tolerance`: :at-val:`real, "0.01"`
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Tolerance threshold used for early termination of the linesearch algorithm.
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.. _option-noslip_iterations:
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:at:`noslip_iterations`: :at-val:`int, "0"`
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+7
-5
@@ -218,15 +218,17 @@
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`timestep<option-timestep>` | :ref:`apirate<option-apirate>` | :ref:`impratio<option-impratio>` | :ref:`tolerance<option-tolerance>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`noslip_tolerance<option-noslip_tolerance>` | :ref:`mpr_tolerance<option-mpr_tolerance>` | :ref:`gravity<option-gravity>` | :ref:`wind<option-wind>` | |
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| | | | :ref:`ls_tolerance<option-ls_tolerance>` | :ref:`noslip_tolerance<option-noslip_tolerance>` | :ref:`mpr_tolerance<option-mpr_tolerance>` | :ref:`gravity<option-gravity>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`magnetic<option-magnetic>` | :ref:`density<option-density>` | :ref:`viscosity<option-viscosity>` | :ref:`o_margin<option-o_margin>` | |
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| | | | :ref:`wind<option-wind>` | :ref:`magnetic<option-magnetic>` | :ref:`density<option-density>` | :ref:`viscosity<option-viscosity>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`o_solref<option-o_solref>` | :ref:`o_solimp<option-o_solimp>` | :ref:`integrator<option-integrator>` | :ref:`collision<option-collision>` | |
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| | | | :ref:`o_margin<option-o_margin>` | :ref:`o_solref<option-o_solref>` | :ref:`o_solimp<option-o_solimp>` | :ref:`integrator<option-integrator>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`cone<option-cone>` | :ref:`jacobian<option-jacobian>` | :ref:`solver<option-solver>` | :ref:`iterations<option-iterations>` | |
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| | | | :ref:`collision<option-collision>` | :ref:`cone<option-cone>` | :ref:`jacobian<option-jacobian>` | :ref:`solver<option-solver>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`noslip_iterations<option-noslip_iterations>` | :ref:`mpr_iterations<option-mpr_iterations>` | :ref:`sdf_iterations<option-sdf_iterations>` | :ref:`sdf_initpoints<option-sdf_initpoints>` | |
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| | | | :ref:`iterations<option-iterations>` | :ref:`ls_iterations<option-ls_iterations>` | :ref:`noslip_iterations<option-noslip_iterations>` | :ref:`mpr_iterations<option-mpr_iterations>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`sdf_iterations<option-sdf_iterations>` | :ref:`sdf_initpoints<option-sdf_initpoints>` | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| option |br| |_| |L| | | .. table:: |
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+4
-2
@@ -62,17 +62,19 @@ General
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Euler integrator. See the :ref:`Numerical Integration<geIntegration>` section for more details.
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11. Added the flag :ref:`invdiscrete<option-flag-invdiscrete>`, which enables discrete-time inverse dynamics for all
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:ref:`integrators<option-integrator>` other than ``RK4``. See the flag documentation for more details.
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12. Added :ref:`ls_iterations<option-ls_iterations>` and :ref:`ls_iterations<option-ls_tolerance>` options for adjusting
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linesearch stopping criteria in CG and Newton solvers. This can be useful for performance tuning.
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Python bindings
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^^^^^^^^^^^^^^^
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12. Fixed `#870 <https://github.com/deepmind/mujoco/issues/870>`__ where calling ``update_scene`` with an invalid
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13. Fixed `#870 <https://github.com/deepmind/mujoco/issues/870>`__ where calling ``update_scene`` with an invalid
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camera name used the default camera.
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Bug fixes
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^^^^^^^^^
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13. Fixed a bug that was causing the geom margins to be ignored during the midphase.
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14. Fixed a bug that was causing the geom margins to be ignored during the midphase.
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Version 2.3.7 (July 20, 2023)
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@@ -674,6 +674,7 @@ struct mjOption_ { // physics options
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// solver parameters
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mjtNum impratio; // ratio of friction-to-normal contact impedance
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mjtNum tolerance; // main solver tolerance
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mjtNum ls_tolerance; // CG/Newton linesearch tolerance
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mjtNum noslip_tolerance; // noslip solver tolerance
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mjtNum mpr_tolerance; // MPR solver tolerance
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@@ -696,6 +697,7 @@ struct mjOption_ { // physics options
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int jacobian; // type of Jacobian (mjtJacobian)
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int solver; // solver algorithm (mjtSolver)
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int iterations; // maximum number of main solver iterations
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int ls_iterations; // maximum number of CG/Newton linesearch iterations
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int noslip_iterations; // maximum number of noslip solver iterations
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int mpr_iterations; // maximum number of MPR solver iterations
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int disableflags; // bit flags for disabling standard features
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